CN102009881A - Elevator control device and control method thereof - Google Patents

Elevator control device and control method thereof Download PDF

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Publication number
CN102009881A
CN102009881A CN201010276204XA CN201010276204A CN102009881A CN 102009881 A CN102009881 A CN 102009881A CN 201010276204X A CN201010276204X A CN 201010276204XA CN 201010276204 A CN201010276204 A CN 201010276204A CN 102009881 A CN102009881 A CN 102009881A
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China
Prior art keywords
carrier frequency
motor
elevator
current
torque
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CN201010276204XA
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Chinese (zh)
Inventor
大屋广明
田中正城
山本阳一
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Publication of CN102009881A publication Critical patent/CN102009881A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B66B1/304—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with starting torque control

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides an elevator control device and a control method thereof, in which a carrier frequency is automatically reduced according to operation state so as to decrease loss generated in a switch element and not influence the service life. Particularly, an elevator control device controls an AC motor (3) to drive the elevator cab (22) through PWM control of the carrier frequency signal, wherein a carrier frequency switch circuit (8) alters the frequency of the carrier signal when the torque command of driving the AC motor achieves a prescribed limit torque value.

Description

Elevator control gear and control method thereof
Technical field
The present invention relates to a kind of elevator control gear and control method thereof.
Background technology
Existing elevator control gear adopts the mode of using frequency-converter device to drive alternating-current motor/AC motor (the following electrical motor that also only is called).Frequency-converter device carries out PWM control to on-off elements such as power transistor, IGBT.If with produce elevator usually the required such viewpoint of torque of operation select frequency-converter device, then can become off-capacity in the demonstration run under the overload situations that is carried out when elevator is completed or during confirming performance.Select if consider above-mentioned test, then the cost of frequency-converter device, size can increase.
Therefore, as the demonstration run under the overload situations, when torque that need be bigger, electric current than the common operation of elevator, specific run signal is input to frequency-converter device, descend when making common operation of carrier frequency ratio in the PWM control, suppressed the loss (for example with reference to patent documentation 1) that produces in the on-off element.And also the running velocity of with good grounds frequency-converter device makes the variable technology of carrier frequency (for example with reference to patent documentation 2).And, the technology (for example with reference to patent documentation 3) that also has the switching motor winding and carrier frequency is descended.
In addition, though the well-known because loss that can suppress to produce in the on-off element when carrier frequency is descended, so exportable bigger torque, electric current, elevator is used for dwelling house more and uses with, office space, usually improve carrier frequency and use, so that present low noise.
So, the following operation of existing elevator control gear to being in this situation of specific running state, to the frequency-converter device incoming signal, or is used the instruction speed that is given, and carrier frequency is descended.
Patent documentation 1: the spy of Japan opens clear 63-225083 communique
Patent documentation 2: the spy of Japan opens flat 6-9165 communique
Patent documentation 3: the spy of Japan opens the 2005-162376 communique
But, there are the following problems for existing elevator control gear, carrier frequency is descended, therefore, when not required carrier frequency is descended, can't obtain good balance with the requirement of wishing low noise, perhaps need electrical motor, the switching circuit of changeable winding.
Summary of the invention
The present invention carries out in view of the above problems, its purpose is to provide a kind of elevator control gear and control method thereof, by judging running state and making the carrier frequency automatic lowering, reduce the loss that produces in the on-off element, make the elevator control gear life-span long, and can under low noise, use as far as possible.
For addressing the above problem, the present invention is following formation.
Scheme 1 described invention is a kind of elevator control gear, and it possesses: vector controller, and computing drives the required voltage instruction of lift car by alternating-current motor/AC motor; The carrier frequency commutation circuit, the outgoing carrier frequency signal; And power converter, carry out PWM control according to described voltage instruction and described carrier frequency signaling, produce alternating electromotive force and supply to described alternating-current motor/AC motor, wherein, described carrier frequency commutation circuit changes described carrier frequency, is in the limit range so that drive the torque instruction of described alternating-current motor/AC motor.
Scheme 2 described inventions are, in scheme 1 described invention, described torque instruction when also possessing acceleration is predicted the last level controller of computing, the described level controller of going up is before driving elevator, predict that described torque instruction reaches capacity moment of torque value, described carrier frequency commutation circuit changes described carrier frequency in the moment of described prediction.
Scheme 3 described inventions are that in scheme 1 or 2 described inventions, described carrier frequency commutation circuit utilizes the relation of torque and carrier frequency to determine carrier frequency signaling.
Scheme 4 described inventions are, in scheme 3 described inventions, described carrier frequency commutation circuit will with the described corresponding breakdown torque value of carrier frequency after determining as new breakdown torque value.
Scheme 5 described inventions are a kind of elevator control gears, and it possesses: the V/f controller, and computing drives the required voltage instruction of lift car by alternating-current motor/AC motor; The carrier frequency commutation circuit, the outgoing carrier frequency signal; And power converter, carry out PWM control according to described voltage instruction and described carrier frequency signaling, produce alternating electromotive force and supply to described alternating-current motor/AC motor, wherein, described carrier frequency commutation circuit changes described carrier frequency, so that the outgoing current of described power converter is in the limit range.
Scheme 6 described inventions are that in scheme 5 described inventions, described carrier frequency commutation circuit utilizes the relation of outgoing current and carrier frequency to determine carrier frequency signaling.
Scheme 7 described inventions are a kind of elevator control gears, and it possesses: vector controller, and computing drives the required voltage instruction of lift car by alternating-current motor/AC motor; The carrier frequency commutation circuit, the outgoing carrier frequency signal; And power converter, carry out PWM control according to described voltage instruction and described carrier frequency signaling, produce alternating electromotive force and supply to described alternating-current motor/AC motor, wherein, torque instruction when also possessing acceleration is predicted the last level controller of computing, the described level controller of going up is before driving elevator, utilize the load-carrying and the described torque instruction of described lift car, predict that described torque instruction value reaches capacity moment of torque value, when described carrier frequency commutation circuit reaches capacity current value at the outgoing current of power converter described in the elevator drive, change described carrier frequency, can monitor the described prediction moment and described change correlation data constantly.
Scheme 8 described inventions are that in scheme 7 described inventions, described correlation data comprises the difference or the change deviation time constantly of the number of times that makes described carrier frequency decline at least.
Scheme 9 described inventions are in scheme 1 or 5 described inventions, can monitor the number of times that described carrier frequency is descended.
In order to address the above problem, the present invention is following formation.
Scheme 10 described inventions are control methods of a kind of elevator, it is determined carrier frequency from the signal of carrier frequency commutation circuit and carries out PWM control for basis, to produce alternating electromotive force and to supply to the power converter of alternating-current motor/AC motor and the control method that drives the elevator of lift car by described alternating-current motor/AC motor, wherein, when the torque instruction value that drives described alternating-current motor/AC motor reaches capacity torque value, or the current value that flows through described alternating-current motor/AC motor changes described carrier frequency when reaching capacity current value.
Scheme 11 described inventions are control methods of a kind of elevator, it is determined carrier frequency from the signal of carrier frequency commutation circuit and carries out PWM control for basis, to produce alternating electromotive force and to supply to the power converter of alternating-current motor/AC motor and the control method that drives the elevator of lift car by described alternating-current motor/AC motor, wherein, before driving elevator, utilize the load-carrying and the described torque instruction of described lift car, the prediction torque instruction value reaches capacity moment of torque value, in elevator drive, when the current value that flows through described alternating-current motor/AC motor reaches capacity current value, change described carrier frequency, contrast the moment of the described prediction moment and the described carrier frequency of change, at least the difference of described two number of times that take place constantly of monitoring display or the deviation time in described two moment.
Owing to when the torque instruction that drives alternating-current motor/AC motor or the electric current level of reaching capacity that flows through alternating-current motor/AC motor become overload, the carrier frequency automatic lowering, so can prevent to damage on-off element, therefore, can make the elevator control gear life-span long, can grasp simultaneously the frequency that becomes overload, through annual variation, therefore, can carry out maintenances such as periodic inspection effectively.
Description of drawings
Fig. 1 is the block diagram of the structure of the related elevator control gear I of expression the present invention the 1st embodiment.
Fig. 2 is the detailed diagram of the vector controller 6 in the elevator control gear shown in Figure 1.
Fig. 3 A is torque and the graph of a relation of allowing carrier frequency.
Fig. 3 B is outgoing current and the graph of a relation of allowing carrier frequency.
Fig. 4 is the block diagram of the structure of the related elevator control gear J of expression the present invention the 2nd embodiment.
Fig. 5 is the block diagram of the structure of the related elevator control gear K of expression the present invention the 3rd embodiment.
The time diagram of the situation of change of torque instruction when Fig. 6 is the explanation elevator drive.
Fig. 7 is the block diagram of the structure of the related elevator control gear L of expression the present invention the 4th embodiment.
Nomenclature
The 1-source of AC; The 2-power converter; The 3-alternating-current motor/AC motor; The 4-base drive circuit; 5,5 ', 5 "-last level controller; The 6-vector controller; The 7-V/f controller; 8,8 ', 9,10-carrier frequency commutation circuit; The 11-current probe; The 12-coder; The 21-traction sheave; The 22-lift car; The 23-counterweight; The 24-load sensor; The 31-speed controller; 32-speed arithmetic and logic unit; The 33-torque limiter; 34-current-order arithmetic and logic unit; 35-current controller (q axle); 36-current controller (d axle); 37,38-coordinate transformation device; 39,40,41-subtracter; The 42-adder.
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are described.
Embodiment 1
Fig. 1 is the block diagram of the related elevator control gear I of the present invention's the 1st embodiment.Elevator control gear I possesses source of AC 1, power converter 2, alternating-current motor/AC motor 3, base drive circuit 4, goes up level controller 5, vector controller 6, carrier frequency commutation circuit 8, current probe 11, coder 12, traction sheave 21, lift car 22, counterweight 23, load sensor 24, by alternating-current motor/AC motor 3 lift car 22 is controlled in the target location by action Jie described later and positions.
Power converter 2 has following function, carries out PWM control in order to drive lift car 22 according to voltage instruction and carrier frequency signaling, supplies with alternating electromotive force to alternating-current motor/AC motor 3.Promptly, 2 pairs of source of ACs of power converter 1 carry out rectification and are converted to vdc, utilization is carried out PWM control based on the base signal from the voltage instruction of base drive circuit 4, built-in a plurality of on-off elements is carried out base drive, and drive on alternating-current motor/AC motor 3.
Base drive circuit 4 is to power converter 2 output base signals, and it is in response to from the voltage instruction (V) of vector controller 6 with from the carrier frequency signaling of carrier frequency commutation circuit 8 triangular wave carrier frequency signal (Fc signal) for example.
Traction sheave 21 links suspention lift car 22 and counterweight 23 with alternating-current motor/AC motor 3.In addition, lift car 22 possesses load sensor 24 as required, detects the load of lift car 22, and detection limit is sent to level controller 5 as the Load signal.
Last level controller 5 obtains the target location according to the destination information of input, and the information conversions such as diameter that are used to the position signal θ of own coding device 12, predefined plus-minus speed, traction sheave 21 are speed command ω r *And output, simultaneously according to Load signal output starting torque compensation Tload from load sensor 24.
Carrier frequency commutation circuit 8 is determined the frequency Fc instruction and the torque limit values Tlim of carrier signal according to the torque instruction Tref of input.The frequency of carrier signal (Fc signal) is sent to base drive circuit 4, and torque limit values Tlim is sent to vector controller 6.Explanation should be determined to handle in the back.
Current probe 11 detects 3 phase currents (iu, iv, iw) that flow through alternating-current motor/AC motor 3, with it as current signal (I).
Coder 12 is connected and detects the position signal θ of alternating-current motor/AC motor 3 with alternating-current motor/AC motor 3.
Fig. 2 is the detailed diagram of vector controller 6.Vector controller 6 has following function, and computing drives the required voltage instruction (V) of lift car 22, the line output of going forward side by side by alternating-current motor/AC motor 3 in following processing.
Vector controller 6 is the motor controllers that possess speed controller 31, speed arithmetic and logic unit 32, torque limiter 33, current-order arithmetic and logic unit 34, current controller (q axle) 35, current controller (d axle) 36, coordinate transformation device 37, coordinate transformation device 38, subtracter 39～41, adder 42.
Speed controller 31 is controlled to be, the speed command ω r that is calculated by subtracter 39 *With speed detection signal ω r described later poor (velocity deviation Δ ω r) is zero.The output of 42 pairs of speed controllers 31 of adder and starting torque compensation Tload carry out additive operation and as torque instruction Tref, export torque instruction Tref to torque limiter 33 and carrier frequency commutation circuit 8.
Speed arithmetic and logic unit 32 calculates the variable quantity in unit time of output signal of coder 12, with it as speed detection signal ω r.
The torque limit values that torque limiter 33 usefulness are set in advance and come torque-limiting instruction Tref from less one among the torque limit values Tlim of carrier frequency commutation circuit 8.Export the torque instruction Tref after the restriction to current-order arithmetic and logic unit 34.
Current-order arithmetic and logic unit 34 utilizes the torque instruction Tref of input to calculate current-order (Idref, Iqref).
Current controller (q axle) 35 is controlled to be, and current-order Iqref that is calculated by subtracter 40 and poor (the current deviation Δ Iq) of electric current I q described later are zero, and calculate voltage instruction Vqref.
Equally, current controller (d axle) 36 is controlled to be, and calculates current deviation Δ Id by subtracter 41, and making current deviation Δ Id is zero, and calculates current-order Vdref.
Coordinate transformation device 37 is transformed to current signal (I) 2 phase currents (Id, Iq) of rotating coordinate system.Coordinate transformation device 38 is transformed to 3 phase voltage directive (Vu with voltage instruction (Vdref, Vqref) *, Vv *, Vw *), and export as voltage instruction (V).
So, vector controller 6 will be from the speed command ω r of upper controller 5 *, from the torque limit Tlim of carrier frequency commutation circuit 8, from the current signal (I) of current probe 11, from the position signal θ of coder 12 as input, carry out vector controlled and output voltage instruction (V).
Below, carrier frequency commutation circuit 8 is described.Carrier frequency commutation circuit 8 has following function, and output is in response to the carrier frequency signaling (Fc signal) of the torque instruction Tref that drives alternating-current motor/AC motor 3.Fig. 3 A is the torque of present embodiment and the graph of a relation of allowing carrier frequency, when carrier frequency commutation circuit 8 reaches the torque shown in Fig. 3 A (breakdown torque) at torque instruction Tref, and change carrier frequency signaling (Fc signal).
Among the figure, carrier frequency Fc1, Fc2 and breakdown torque Tlim1, Tlim2 are definite value for the on-off element of protecting formation power converter 2.The user can't set change to above-mentioned value.In addition, this relation is decided by the loss size of on-off element usually, as long as use in by these 2 determined scopes, just can make the infringement that gives on-off element in the scope of allowing.
In addition, if the value of carrier frequency Fc1, Fc2 is defined as maxim, the minimum value of the confirmable carrier frequency F of user respectively,, also can in this scope, move even then be not under the situation of overload.Though be not limited thereto, for example Fc1 can be set at 15kHz, Tlim1 is 150% * frequency converter torque rating, and Fc2 is set at 2kHz, Tlim2 is the value of 190% * frequency converter torque rating.Electrical motor when the value that the frequency converter torque rating will be equivalent to the frequency-converter device rated current flows through alternating-current motor/AC motor 3 produces torque as torque rating (100%), and it waits definite with the rated current of frequency-converter device and the motor constant of alternating-current motor/AC motor 3.
In elevator control gear I, before the operation beginning, carrier frequency F, torque limit values Tlim are set to the value that is set by the user respectively.
In service at elevator, be input to carrier frequency commutation circuit 8 by the torque instruction Tref of speed controller 31 computings.If the carrier frequency value that set this moment is in the scope of Fig. 3 A, then the value that carrier frequency commutation circuit 8 will be identical with previous value sends to base drive circuit 4, torque limiter 33 respectively as Fc signal, Tlim.If outside scope, then the maxim that Fc signal, Tlim are allowed at this moment that is to say that the limit on the figure line shown in Fig. 3 A sends to base drive circuit 4, torque limiter 33 respectively.
So, carrier frequency commutation circuit 8 is in the scope shown in Fig. 3 A the relation of the frequency Fc of the torque instruction Tref that imported and carrier signal.In addition, when the setting resolution of the frequency Fc that does not have carrier signal, for example also can quantize in the inboard of above-mentioned scope to use.
As mentioned above, because carrier frequency commutation circuit 8 output is in response to the frequency Fc instruction and the torque limit values Tlim of the carrier signal of torque instruction Tref, so the frequency Fc automatic lowering of carrier signal when torque instruction Tref becomes big.
Although the clear part that descends because of the frequency Fc of carrier signal rises the protection level of the on-off element that constitutes power converter 2; thereby improved torque limit values; do not change torque limit values but the frequency Fc that also can make carrier signal is variable, so that protection switch element more comfortably.
So, the related elevator control gear I of the present invention's the 1st embodiment can make the carrier frequency automatic lowering, is in the permissible scope so that drive the torque instruction of alternating-current motor/AC motor, can not damage on-off element ground continuous running.
Embodiment 2
Fig. 4 is the block diagram of the elevator control gear J of the 2nd embodiment.With elevator control gear I that vector controller 6 is relative as motor controller, elevator control gear J is to use the structure of V/f controller 7, and carrier frequency commutation circuit 8 is changed to 8 '.Use same-sign for the position beyond above-mentioned, omit explanation.
V/f controller 7 has following function, the control that output voltage and frequency are roughly risen pro rata, promptly be controlled to be voltage/frequency and be certain (V/f=is certain), computing drives the required voltage instruction (V) of lift car 22, the line output of going forward side by side by alternating-current motor/AC motor 3.This voltage instruction (V) is to roughly with the proportional Vqref of frequency instruction and be that zero Vdref carries out the value that coordinate transform obtains.Because it is well-known to obtain their arithmetic expression, therefore omit its explanation at this.
Below, the concrete action of carrier frequency commutation circuit 8 ' is described.Carrier frequency commutation circuit 8 ' has according to flowing through the electric current of alternating-current motor/AC motor 3, i.e. the outgoing current of power converter 2 and outgoing carrier frequency signal (the Fc signal) function.Fig. 3 B is the outgoing current of present embodiment and the graph of a relation of allowing carrier frequency, when carrier frequency commutation circuit 8 ' reaches the electric current shown in Fig. 3 B (limited current) at outgoing current, and change carrier frequency signaling (Fc signal).
Among the figure, limited current value Ilim1, the Ilim2 of the frequency Fc1 of carrier signal, Fc2 and frequency converter outgoing current is definite value for the on-off element of protecting formation power converter 2, and the user can't set change to above-mentioned value.In addition, this relation is decided by the loss size of on-off element usually, as long as use in by these 2 determined scopes, just can make the infringement that gives on-off element in the scope of allowing.Though be not limited thereto, for example Fc1 can be set at 15kHz, Ilim1 is 150% * frequency converter rated current, and Fc2 is set at 2kHz, Ilim2 is the value of 190% * frequency converter rated current.
In elevator control gear J, before the operation beginning, carrier frequency is set to the value F that is set by the user.
In service at elevator, be input to carrier frequency commutation circuit 8 ' by current probe 11 detected current signals (I), the size of carrier frequency commutation circuit 8 ' operation current signal (I), with it as Iout.If the carrier frequency F that set this moment in the scope of Fig. 3 B, then sends the Fc signal identical with previous value to base drive circuit 4.If outside scope, then send the maxim of allowing this moment to base drive circuit 4, that is to say the value on the figure line shown in Fig. 3 B.
So, carrier frequency commutation circuit 8 ' is in the scope of being determined by admissible function shown in Fig. 3 B the relation of the big or small Iout of the frequency Fc of carrier signal and outgoing current.In addition, when the setting resolution of the frequency Fc that does not have carrier signal, for example also can quantize in the inboard of above-mentioned scope to use.
So, because the frequency Fc instruction of carrier frequency commutation circuit 8 ' output and the corresponding carrier signal of big or small Iout of frequency converter outgoing current, so the frequency Fc automatic lowering of carrier signal when frequency converter outgoing current Iout becomes big.
And in the above description; although understand when the frequency Fc of carrier signal descends; the protection level that constitutes the on-off element of power converter 2 rises; correspondingly improved current limit value therewith; do not change current limit value but the frequency Fc that also can make carrier signal is variable, so that protection switch element more comfortably.
Though it is not shown, has the situation that the stall that suppresses frequency converter outgoing current Iout prevents function but in V/f control, exist, this moment and embodiment 1 pass through that vector controlled makes Tlim variable the time the same, also can change the stall level that stall prevents function with reference to the value of the Ilim that determines by carrier frequency commutation circuit 8 '.
Even when the related elevator control gear J of the present invention's the 2nd embodiment is V/f control in motor control, also can when becoming overload, make the carrier frequency automatic lowering, can not damage on-off element ground continuous running.
Embodiment 3
Fig. 5 is the block diagram of structure of the elevator control gear K of explanation the present invention the 3rd embodiment.Elevator control gear K compares with elevator control gear I, will go up level controller 5 and change to 5 ', and carrier frequency commutation circuit 8 is changed to 9.Use same-sign for the position beyond above-mentioned, omit explanation.
The 3rd embodiment is based on following idea, usually elevator has following characteristic, in case promptly adding and subtracting speed determines when trail run then does not rechange thereafter but certain, the way load that is in operation does not change, and torque to become maximum be when acceleration and deceleration, therefore, as long as know load-carrying when bringing into operation, what torque that reaches capacity constantly that just can grasp that torque instruction Tref is in operation.
There is the torque shown in Fig. 3 A in the last level controller 5 ' and allows the relation of carrier frequency.Last level controller 5 ' has following function, and before driving elevator, the torque instruction Tref of the alternating-current motor/AC motor 3 during to acceleration predicts computing, and prediction torque instruction Tref reaches the moment of the torque shown in Fig. 3 A (breakdown torque).Torque instruction Tref when utilizing Fig. 6 that the acceleration of computing that level controller 5 ' is predicted is described.
The variation of torque instruction Tref when Fig. 6 rises elevator is illustrated in the time diagram with following each signal.
The instruction of (a) shown in figure destination, (b) operating instruction, (c) brake command, (d) speed command ω r *, the instruction of (e) acceleration/accel, (f) torque instruction Tref, (g) Fc signal.
Though not shown, but by after the indicating device input destination instruction that is positioned at lift car 22, the just definite instruction that conforms to this target location of last level controller 5 '.After this, elevator door cuts out, and the operating instruction of elevator (b) becomes out.At this moment, go out starting torque compensation Tload according to Load signal operation, and export vector controller 6 to from load sensor 24.In addition, the part of expression (f) torque instruction Tref (1) is the value that is equivalent to starting torque compensation Tload.
Afterwards, when torque instruction Tref reaches the value of starting torque compensation Tload, commencing speed control, the instruction of the release the brake of output (c), speed command ω r (d) *Follow the rate of acceleration that comprises the S word that sets and become big gradually from zero.Accompany therewith, torque instruction Tref (f) rises, and along with rate of acceleration slows down, torque instruction Tref diminishes.At this moment, according to the load of lift car 22, the setting of rate of acceleration, torque instruction Tref produces the part in the interval (5) that reaches the limit of torque.
Speed command ω r *Become one regularly, torque instruction Tref only becomes the value based on the load of lift car 22, along with becoming deceleration, and torque instruction Tref trend zero, according to circumstances torque instruction Tref becomes negative value, and then produces the interval that reaches the limit of torque.This part is not shown.
When lift car 22 reaches the target location, speed command ω r *During vanishing, export the instruction of closed drg, speed control finishes.So, each signal during elevator drive changes.
Although understand from the speed command ω r of last level controller 5 ' output *Follow the rate of acceleration that comprises the S word that sets and change, but also can at first determine the instruction of (e) acceleration/accel, this value is carried out integration, union speed command ω r *
With reference to the time diagram of figure 6 as can be known, if determined destination then the acceleration/accel instruction also is determined.And, the instruction of operating torque instruction Tref acceleration/accel adds based on the starting torque compensation Tload from the Load signal of load sensor 24 and obtains, during acceleration and the size of the torque instruction Tref when slowing down only be offset starting torque upward and compensate Tload[(1) part] [(2) (3) is big or small identical among the figure].
Thereby, if the Load signal when having determined destination and starting beginning can judge then what torque instruction Tref reach the limit of torque constantly.
In addition, owing to reach the limit of moment of torque Tlim1, can make carrier frequency descend and breakdown torque is increased, therefore become the operation that can not arrive torque limit reality in service from Fc1 at torque instruction Tref.
So, as long as the value of the Load signal when storage adds the starting beginning by the instruction of the determined acceleration/accel of destination becomes the moment greater than breakdown torque, for example with speed command ω r *Start from scratch point that rises or the point that reduces speed now is benchmark, by (4) illustrated time, just can grasp torque instruction Tref what reaches the limit of torque constantly at.In addition, for the sloping portion that the Fc signal of (g) changes, therefore the carrier frequency of allowing that also can grasp the time that reaches maximum torque and value thereof, this moment in advance also can utilize above-mentioned value to determine.
So, owing to last level controller 5 ' can pass through apart from speed command ω r in advance *Therefore the frequency that the time constantly that changes is determined carrier signal can know the moment that becomes overload in advance, thereby implements to avoid the operation of transshipping.
And, in elevator drive, the frequency of the carrier signal that last level controller 5 ' will as above be determined (Fc signal) is sent to carrier frequency commutation circuit 9, and carrier frequency commutation circuit 9 utilizes the value of this Fc signal and the graph of a relation of Fig. 3 A to calculate torque limit values Tlim, exports vector controller 6 to.
In addition, though torque instruction Tref has been described in the above description to be determined by following value, the value of the Load signal when promptly the acceleration/accel instruction of being determined by destination adds the starting beginning, if but measure the mechanical efficiency of elevator in advance, it is added that acceleration/accel instructs carry out reference, then can implement more accurately.
And, because the output of each load sensor 24 all needs to carry out the action before this elevator drive when changing, be comparatively suitable after entering the action of closing elevator door therefore.
And even carrier frequency commutation circuit 9 makes the frequency Fc of carrier signal variable in permissible range, last level controller 5 ' can know in advance that also torque instruction Tref reaches the limit of the situation of torque.In this case, only otherwise drive elevator, the buzzer phone that is installed on the lift car 22 is rung wait and take and interlock, safe frequency transformer for elevator device just can be provided.
Though be that the situation of vector controller 6 is illustrated to motor controller in the above description, but if use the elevator control gear J of V/f controller 7, then also can make it have the relation that the outgoing current shown in Fig. 3 B is arranged and allow carrier frequency at last level controller internal memory, prediction outgoing current Iout reaches the function in the moment of the electric current (limited current) of Fig. 3 B before driving elevator, and the carrier frequency commutation circuit is in the moment of this prediction change carrier frequency.
The related elevator control gear K of the present invention's the 3rd embodiment predicts the torque instruction Tref situation of torque that reaches capacity in advance, and can make the carrier frequency automatic lowering, so that torque instruction is in the permissible scope.
As mentioned above, according to the 1st to the 3rd embodiment, operation conditions and only make the carrier frequency automatic lowering when needed can be judged, the balance of requirement of as the elevator purposes, wanting the requirement of under low noise, using and wanting to guarantee the current capacity of frequency-converter device can be obtained well.
Embodiment 4
Fig. 7 is the block diagram of structure of the elevator control gear L of explanation the present invention the 4th embodiment.The difference of elevator control gear L and elevator control gear J is, will go up level controller 5 and change to 5 ", carrier frequency commutation circuit 8 ' is changed to 10.That is, motor controller is a V/f controller 7.Use same-sign for the position beyond above-mentioned, omit explanation.
Carrier frequency commutation circuit 10 is by the action same with elevator control gear J, the frequency (Fc signal) of change carrier signal was sent to base drive circuit 4 and last level controller 5 with the Fc signal when outgoing current reached the electric current shown in Fig. 3 B (limited current) in elevator drive ".
Last level controller 5 " in have the torque shown in Fig. 3 A and allow the relation of carrier frequency.Last level controller 5 " by the action same with the last level controller 5 ' of elevator control gear K; before driving elevator; the torque instruction when utilizing the load-carrying prediction of lift car to quicken, reach capacity moment of torque as the variation prediction torque instruction value of Fc ' signal.
Can monitor level controller 5 " correlation data of contrast after from the Fc ' signal of the Fc signal of carrier frequency commutation circuit 10 and self prior computing.As the data of this moment contrast, number of times poor of overload for example arranged, the moment of overload poor, if monitor above-mentioned data, then can know elevator control gear through annual variation.
Last level controller 5 " can or be sent to miscellaneous equipment with the overload conditions demonstration, the abnormal data that can be used as lift appliance is used.
And, in the purposes that imagination elevator load situation can not change, also can only add up Fc ' signal, and show or send from carrier frequency commutation circuit 10.
The related elevator control gear L of the present invention's the 4th embodiment can know the error state of elevator control gear, periodic inspection such safeguard the time very effective.
The present invention is not limited to above-mentioned embodiment, can suitably change.
For example, also can use other compensation of carrier frequency with being sent to level controller 5 by carrier frequency commutation circuit 8 or 8 ' the Fc signal of determining.
And, though be to use the structure of load sensor, also can when starting, use the torque instruction value when under zero-speed, moving to wait the load that obtains lift car.And in the example of the vector controlled of frequency-converter device, though be to use the structure of coder, the structure that also can be to use flux observer etc. to obtain speed, location information is implemented.

Claims (11)

1. elevator control gear, it possesses: vector controller, computing drives the required voltage instruction of lift car by alternating-current motor/AC motor; The carrier frequency commutation circuit, the outgoing carrier frequency signal; And power converter, carry out PWM control according to described voltage instruction and described carrier frequency signaling, produce alternating electromotive force and supply to described alternating-current motor/AC motor, it is characterized in that,
Described carrier frequency commutation circuit changes described carrier frequency, is in the limit range so that drive the torque instruction of described alternating-current motor/AC motor.
2. elevator control gear according to claim 1 is characterized in that,
Described torque instruction when also possessing acceleration is predicted the last level controller of computing,
The described level controller of going up predicted that described torque instruction reached capacity moment of torque value before driving elevator,
Described carrier frequency commutation circuit changes described carrier frequency in the moment of described prediction.
3. elevator control gear according to claim 1 and 2 is characterized in that,
Described carrier frequency commutation circuit utilizes the relation of torque and carrier frequency to determine carrier frequency signaling.
4. elevator control gear according to claim 3 is characterized in that,
Described carrier frequency commutation circuit will with the described corresponding breakdown torque value of carrier frequency after determining as new breakdown torque value.
5. elevator control gear, it possesses: the V/f controller, computing drives the required voltage instruction of lift car by alternating-current motor/AC motor; The carrier frequency commutation circuit, the outgoing carrier frequency signal; And power converter, carry out PWM control according to described voltage instruction and described carrier frequency signaling, produce alternating electromotive force and supply to described alternating-current motor/AC motor, it is characterized in that,
Described carrier frequency commutation circuit changes described carrier frequency, so that the outgoing current of described power converter is in the limit range.
6. elevator control gear according to claim 5 is characterized in that,
Described carrier frequency commutation circuit utilizes the relation of outgoing current and carrier frequency to determine carrier frequency signaling.
7. elevator control gear, it possesses: vector controller, computing drives the required voltage instruction of lift car by alternating-current motor/AC motor; The carrier frequency commutation circuit, the outgoing carrier frequency signal; And power converter, carry out PWM control according to described voltage instruction and described carrier frequency signaling, produce alternating electromotive force and supply to described alternating-current motor/AC motor, it is characterized in that,
Torque instruction when also possessing acceleration is predicted the last level controller of computing,
The described level controller of going up utilized the load-carrying and the described torque instruction of described lift car before driving elevator, predict that described torque instruction value reaches capacity moment of torque value,
When described carrier frequency commutation circuit reaches capacity current value at the outgoing current of power converter described in the elevator drive, change described carrier frequency,
Can monitor the described prediction moment and described change correlation data constantly.
8. elevator control gear according to claim 7 is characterized in that,
Described correlation data comprises the difference or the change deviation time constantly of the number of times that makes described carrier frequency decline at least.
9. elevator control gear according to claim 1 or 5 is characterized in that,
Can monitor the number of times that described carrier frequency is descended.
10. the control method of an elevator, it is determined carrier frequency from the signal of carrier frequency commutation circuit and carries out PWM control for basis, to produce alternating electromotive force and to supply to the power converter of alternating-current motor/AC motor and the control method that drives the elevator of lift car by described alternating-current motor/AC motor, it is characterized in that
When the torque instruction value that drives described alternating-current motor/AC motor reaches capacity torque value, or the current value that flows through described alternating-current motor/AC motor changes described carrier frequency when reaching capacity current value.
11. the control method of an elevator, it is determined carrier frequency from the signal of carrier frequency commutation circuit and carries out PWM control for basis, to produce alternating electromotive force and to supply to the power converter of alternating-current motor/AC motor and the control method that drives the elevator of lift car by described alternating-current motor/AC motor, it is characterized in that
Before driving elevator, utilize the load-carrying and the described torque instruction of described lift car, the prediction torque instruction value reaches capacity moment of torque value,
In elevator drive, when the current value that flows through described alternating-current motor/AC motor reaches capacity current value, change described carrier frequency,
Contrast the moment of the described prediction moment and the described carrier frequency of change,
At least the difference of described two number of times that constantly take place of monitoring display or the deviation time in described two moment.
CN201010276204XA 2009-09-08 2010-09-06 Elevator control device and control method thereof Pending CN102009881A (en)

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Application publication date: 20110413